14. 精度
ICL-NUIM dataset[5] とTUM RGB-D SLAM dataset[6]を使用
[5] A. Handa, T. Whelan, J. McDonald, and A. Davison, “A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM.”, ICRA 2014
[6] J. Sturm, N. Engelhard, F. Endres, W. Burgard, and D. Cremers. “A benchmark for the evaluation of RGB-D SLAMsystems.”, IROS 2012